contributor author | N. C. Singer | |
contributor author | W. P. Seering | |
date accessioned | 2017-05-08T23:32:16Z | |
date available | 2017-05-08T23:32:16Z | |
date copyright | March, 1990 | |
date issued | 1990 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26128#76_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/106728 | |
description abstract | A method is presented for generating shaped command inputs which significantly reduce or eliminate endpoint vibration. Desired system inputs are altered so that the system completes the requested move without residual vibration. A short move time penalty is incurred (on the order of one period of the first mode of vibration). The preshaping technique is robust under system parameter uncertainty and may be applied to both open and closed loop systems. The Draper Laboratory’s Space Shuttle Remote Manipulator System simulator (DRS) is used to evaluate the method. Results show a factor of 25 reduction in endpoint residual vibration for typical moves of the DRS. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Preshaping Command Inputs to Reduce System Vibration | |
type | Journal Paper | |
journal volume | 112 | |
journal issue | 1 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.2894142 | |
journal fristpage | 76 | |
journal lastpage | 82 | |
identifier eissn | 1528-9028 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;1990:;volume( 112 ):;issue: 001 | |
contenttype | Fulltext | |